JP7305903B1 - Multi-tasking device, control method for multi-tasking device, and program for executing control method - Google Patents

Abstract

A method of controlling a multi-tasking apparatus for performing cutting and friction stir welding includes obtaining tool information indicating whether each of a plurality of tools attachable to the multi-tasking apparatus is a cutting tool or a friction stir welding tool, obtaining an instruction representing an execution tool called by a machining program executed by the multi-tasking apparatus among the plurality of tools, determining that the execution tool is a cutting tool based on the tool information and the instruction; validating the correction of the position of the execution tool based on the tool information and determining that the execution tool is a tool for friction stir welding based on the tool information and the instruction, obtaining the load applied to the execution tool in friction stir welding, and validating the correction of the position of the execution tool based on the load.

Description

The present invention relates to a multi-tasking apparatus, a control method for the multi-tasking apparatus, and a program for executing the control method.

A combined machining apparatus capable of performing both cutting and friction stir welding is known (for example, Patent Document 1). It is known that there are two methods of tool control: position control suitable for cutting (for example, Patent Document 2) and thrust control suitable for friction stir welding (for example, Patent Document 3).

Patent No. 6099291 JP 2010-172981 A Japanese Patent Application Laid-Open No. 2001-198683

The method of Patent Document 2 can change the parameters of position control according to the type of tool, but does not disclose anything about thrust control. Patent Document 1 and Patent Document 3 do not disclose automatic detection of the tool type and switching of control parameters.

An object of the technology disclosed in the present application is to provide a multitasking machine, control method, and program capable of automatically switching between position control and thrust control according to the type of tool.

A control method according to a first aspect of the present disclosure is a control method for a multitasking apparatus for performing cutting and friction stir welding, wherein each of a plurality of tools attachable to the multitasking apparatus performs cutting and acquisition of tool information indicating whether the tool is for friction stir welding or for friction stir welding. The control method includes obtaining an instruction representing an execution tool called by a machining program executed by a multi-tasking machine, among a plurality of tools. The control method includes determining whether the execution tool is a cutting tool or a friction stir welding tool, based on the tool information and the command. The control method enables correction of the position of the execution tool based on the temperature detected by the temperature sensor provided in the multitasking apparatus in cutting when the execution tool is determined to be a cutting tool. include. The control method includes obtaining the load applied to the execution tool in friction stir welding and validating the correction of the position of the execution tool based on the load when it is determined that the execution tool is a tool for friction stir welding.

According to the second aspect of the present disclosure, in the control method according to the first aspect, obtaining the load applied to the execution tool is the load detected by the load sensor provided on the tool for multitasking processing equipment or friction stir welding. Including getting. The thrust force correction code for instructing correction of the position of the execution tool based on the load preferably includes a code that defines the output value of the sensor corresponding to zero load among the values of the load sensor.

According to the third aspect of the present disclosure, in the control method according to the first aspect or the second aspect, the correction of the position of the execution tool based on the load applied to the execution tool is correction of the position of the execution tool in the rotation axis direction.

According to a fourth aspect of the present disclosure, in the control method according to any one of the first to third aspects, enabling the correction of the position of the execution tool based on the temperature is based on the temperature detected by the temperature sensor. and estimating the positional deviation from the cutting edge position of the execution tool when the temperature detected by the temperature sensor is the reference temperature, and correcting the position of the execution tool based on the positional deviation in cutting. .

According to the fifth aspect of the present disclosure, in the control method according to any one of the first to fourth aspects, enabling correction of the position of the execution tool based on the temperature defines machining by the execution tool of the machining program. ignoring the thrust force correction code even if the thrust force correction code instructing the correction of the position of the execution tool based on the load is included in the portion where the force is applied.

According to the sixth aspect of the present disclosure, in the control method according to the fifth aspect, enabling correction of the position of the execution tool based on the temperature is performed in a portion of the machining program that defines machining by the execution tool, based on the load. This includes announcing an error message when a thrust correction code instructing correction of the position of the executing tool is included.

According to the seventh aspect of the present disclosure, in the control method according to any one of the first to sixth aspects, enabling correction of the position of the execution tool based on the load defines machining by the execution tool of the machining program. including executing the thrust correction code when the portion to execute includes thrust correction code that directs correction of the position of the tool based on the load.

According to the eighth aspect of the present disclosure, in the control method according to the seventh aspect, enabling correction of the position of the execution tool based on the load means that the thrust force correction code is If not included, it includes not performing a correction of the position of the working tool based on the load on the working tool or based on the temperature.

According to a ninth aspect of the present disclosure, the control method according to any one of the first to eighth aspects further includes storing the tool information input by the user in the storage means. Acquiring the tool information includes reading the tool information from the storage means.

According to the tenth aspect of the present disclosure, in the control method according to any one of the first to ninth aspects, the correction of the position of the execution tool based on the load applied to the execution tool is performed so that the load does not substantially change. Including feedback correction of the position of the running tool.

A program according to an eleventh aspect of the present disclosure, when executed by a hardware processor of a multi-tasking apparatus, includes instructions that cause the hardware processor to execute the control method according to any one of the first to tenth aspects.

A multitasking apparatus according to a twelfth aspect of the present disclosure includes means for executing processing of the control method according to any one of the first to tenth aspects, storage means configured to store tool information, and cutting a spindle to which both a tool for friction stir welding and a tool for friction stir welding can be attached; a load sensor for detecting a load provided on at least one of the spindle and the tool for friction stir welding; Prepare.

According to the thirteenth aspect of the present disclosure, the multitasking apparatus according to the twelfth aspect includes a tool magazine capable of storing both cutting tools and friction stir welding tools, and between the tool magazine and the spindle and a tool changer configured to change tools.

According to a fourteenth aspect of the present disclosure, the multi-tasking apparatus according to the twelfth aspect or the thirteenth aspect further includes an interface for inputting tool information by the user.

According to a fifteenth aspect of the present disclosure, in the multi-tasking apparatus according to any one of the twelfth to fourteenth aspects, the storage means is a memory. A means for executing the processing of the control method according to any one of the first to tenth aspects includes a program according to the eleventh aspect stored in a memory, and a hardware processor that executes the program.

A twelfth aspect comprising a control method according to the first aspect, a program according to an eleventh aspect that causes a hardware processor to execute the processing of the control method according to the first aspect, and means for executing the processing of the control method according to the first aspect. In such a combined processing apparatus, when it is determined that the execution tool is a tool for cutting, correction of the position of the execution tool based on temperature, that is, position control is enabled, and it is determined that the execution tool is a tool for friction stir welding. If determined, correction of the position of the execution tool based on the load, that is, thrust control is enabled. Therefore, it is possible to automatically switch between position control and thrust control according to the type of tool.

A twelfth aspect comprising a control method according to the second aspect, a program according to an eleventh aspect that causes a hardware processor to execute the control method processing according to the second aspect, and means for executing the control method processing according to the second aspect. With such a composite processing apparatus, the load applied to the execution tool is detected by a load sensor provided on the composite processing apparatus or the tool for friction stir welding, so the load applied to the execution tool can be detected with high accuracy. Further, if the thrust force correction code for instructing the correction of the position of the execution tool based on the load includes a code that defines the output value of the sensor corresponding to a load of 0 among the values of the load sensor, the assembly of the load cell, the temperature When a signal is output from the load sensor due to the influence of a rise or the like, the signal value can be ignored.

A twelfth aspect comprising a control method according to a third aspect, a program according to an eleventh aspect that causes a hardware processor to execute the processing of the control method according to the third aspect, and means for executing the processing of the control method according to the third aspect. With such a combined machining apparatus, the cutting edge resistance can be efficiently reduced due to the position correction in the direction of the rotation axis, and the machining quality can be improved.

A twelfth aspect comprising a control method according to a fourth aspect, a program according to an eleventh aspect that causes a hardware processor to execute the processing of the control method according to the fourth aspect, and means for executing the processing of the control method according to the fourth aspect. With such a combined processing apparatus, when the tool to be executed is a tool for cutting, the cutting edge position of the tool to be executed is determined based on the temperature, so that the machining quality in cutting can be improved.

A twelfth aspect comprising a control method according to a fifth aspect, a program according to an eleventh aspect that causes a hardware processor to execute the processing of the control method according to the fifth aspect, and means for executing the processing of the control method according to the fifth aspect. With such a multitasking machine, when the execution tool is a cutting tool, the thrust control code is ignored, so even if the thrust control code is mistakenly inserted into the program, the position control originally required for cutting is effective. can be As a result, the processing quality of cutting can be improved.

A twelfth aspect comprising a control method according to a sixth aspect, a program according to an eleventh aspect that causes a hardware processor to execute the processing of the control method according to the sixth aspect, and means for executing the processing of the control method according to the sixth aspect. With such a multitasking machine, if the execution tool is a cutting tool and a thrust force control code is mistakenly entered into the program, an error message is displayed, so the user must enter an invalid code. You can notice what has gone wrong and improve the user experience.

A twelfth aspect comprising a control method according to a seventh aspect, a program according to an eleventh aspect that causes a hardware processor to execute the processing of the control method according to the seventh aspect, and means for executing the processing of the control method according to the seventh aspect. With such a combined machining apparatus, when the tool to be executed is a tool for friction stir welding, execution of thrust control can be determined by the thrust correction code, so the user can freely determine whether or not to execute thrust control. can be done.

A twelfth aspect comprising a control method according to an eighth aspect, a program according to an eleventh aspect that causes a hardware processor to execute the processing of the control method according to the eighth aspect, and means for executing the processing of the control method according to the eighth aspect. With such a multitasking machine, when the execution tool is a tool for friction stir welding, if there is no thrust force correction code, neither position control nor thrust force control can be executed, so the user can change the program original Code can be selectively executed.

A twelfth aspect comprising a control method according to a ninth aspect, a program according to an eleventh aspect that causes a hardware processor to execute the processing of the control method according to the ninth aspect, and means for executing the processing of the control method according to the ninth aspect. In such a multitasking apparatus, a user registers whether a new tool is a tool for cutting or a tool for friction stir welding in a storage means, and based on the information registered in the storage means The multitasking machine can automatically determine whether the tool is for cutting or friction stir welding.

A twelfth aspect comprising a control method according to a tenth aspect, a program according to an eleventh aspect that causes a hardware processor to execute the processing of the control method according to the tenth aspect, and means for executing the processing of the control method according to the tenth aspect. Since the thrust can be controlled so as to keep the thrust constant with such a combined machining apparatus, the machining quality of the friction stir welding can be improved.

In the multitasking apparatus according to the thirteenth aspect, the tools for cutting and the tools for friction stir welding can be stored without distinguishing between the types of the tools, so that the tool storage pocket of the tool magazine can be effectively used. Furthermore, since the cutting tool and the friction stir welding tool can be mechanically exchanged, the number of manufacturing processes that can be automated can be increased.

In the multi-tasking apparatus according to the fourteenth aspect, the user can input tool information from the multi-tasking apparatus, which facilitates tool information registration work. In addition, since it is possible to check whether the tool is for cutting or friction stir welding from the tool information, there is no need to check what kind of tools are attached to the tool magazine of the multitasking machine, and the program can Easy to create and modify.

In the multi-tasking apparatus according to the fifteenth aspect, since the controls relating to the first to tenth aspects can be realized with a general-purpose architecture, the manufacturing cost of the multi-tasking apparatus can be reduced.

According to the technology disclosed in the present application, it is possible to provide a combined machining apparatus, control method, and program capable of automatically switching between position control and thrust control according to the type of tool.

FIG. 1 is a diagram showing the external configuration of a multi-tasking machine according to an embodiment. FIG. 2 is a diagram showing the configuration of an electronic circuit of the multi-tasking machine according to the embodiment. FIG. 3 is a cross-sectional view showing an outline of a machining head of the multi-tasking machine shown in FIG. FIG. 4 is a cross-sectional view showing an outline of a machining head of the multi-tasking machine shown in FIG. FIG. 5 is an enlarged perspective view showing a tool magazine and a tool changer. FIG. 6 is a flow chart showing the control method of the multi-tasking apparatus, that is, the operation of the control program. FIG. 7A is an example of tool data of a cutting tool. FIG. 7B is an example of tool data of a tool for friction stir welding. FIG. 8 is a flow chart showing the details of the operation of step S2. FIG. 9 is a flow chart showing the details of the operation of step S3. FIG. 10 is a flow chart showing the details of the operation of step S4. FIG. 11 is a flow chart showing details of the operation of step S5. FIG. 12A is an example of a machining program for cutting. FIG. 12B is an example of a processing program for friction stir welding. FIG. 13A is another example of a machining program for cutting. FIG. 13B is another example of a processing program for friction stir welding.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be specifically described with reference to the drawings showing its embodiments. In addition, the same reference numerals in the drawings indicate corresponding or substantially the same configurations.
<Embodiment>
<Structure of multitasking device 1>
FIG. 1 is a perspective view showing the external configuration of a multitasking machine 1 for performing cutting and friction stir welding according to an embodiment. FIG. 2 is a diagram showing the configuration of an electronic circuit of the multitasking machine 1 according to the embodiment. As shown in FIG. 1, the multitasking apparatus 1 includes a control panel 10, a machining table 11 holding a workpiece W (see FIGS. 3 and 4), and a machining head movable with respect to the workpiece W in XYZ directions. 12 , a tool magazine 15 and a tool changer 16 . Although not shown in FIG. 1, the multi-tasking apparatus 1 may further include a cover that covers the above-described components other than the control panel 10. As shown in FIG.

Referring to FIG. 2, the control panel 10 includes a numerical controller 2 for controlling the operation of the multi-tasking machine 1, and keys and buttons for the user to input machining conditions and the like in the machining control executed by the numerical controller 2. , a dial, a touch panel, etc., and a display device 10b for displaying processing conditions, detection results by various sensors, etc. to the user. The numerical controller 2 has a hardware processor 3 , a memory 4 , a bus 5 and an input/output interface 6 . The memory 4 stores a machining program 7 such as a welding program and a cutting program, a control program 8 for controlling the tool, and a tool indicating whether the tool is a cutting tool or a friction stir welding tool. Tool data 9 storing information is stored. The memory 4 may also be called storage means. That is, the storage means is configured to store tool information. The hardware processor 3 executes various programs. The hardware processor 3 may be simply referred to as processor 3 in subsequent embodiments.

3 and 4 are cross-sectional views showing the outline of the machining head 12 of the multi-tasking machine 1 shown in FIG. As shown in FIGS. 3 and 4, the machining head 12 includes a hollow spindle frame 12a forming a housing and a spindle 12b enclosed in the spindle frame 12a. The spindle frame 12a of the machining head 12 is attached to the XYZ drive mechanism 13 shown in FIG. 2 and is movable in the XYZ three-axis directions. Further, one end of the main shaft 12b is connected to a rotation driving device 14 such as a motor and configured to rotate around the rotation axis AX1. The rotary drive device 14 includes a stator 14s fixed to the main shaft frame 12a and a rotor 14r fixed to the main shaft 12b. The XYZ driving mechanism 13 and the rotation driving device 14 are connected to the numerical controller 2 via the input/output interface 6 .

A tool holder 17 is detachably attached to the lower end of the machining head 12 . FIG. 3 shows a tool T1 for friction stir welding according to an embodiment. In the friction stir welding, the probe TT at the tip of the tool T1 is rotated and inserted between the two works W1 and W2, and the respective metal materials are softened and stirred by frictional heat to join the two works W1 and W2 together. It means to join FIG. 4 shows a tool T2 for cutting according to an embodiment. As shown in FIGS. 3 and 4, tools T1 and T2 are held in a tool holder 17. As shown in FIG.

The tool holder 17 has a pull stud 18 at its upper end and has a substantially frustoconical holder flange 17F connected to the pull stud 18 . The holder flange 17F has a groove 17G cut in the radial direction with respect to the rotation axis AX1 of the main shaft 12b. On the other hand, the main shaft 12b has a collet chuck 19 that can be fitted with the pull stud 18 and a key portion 12K that can be fitted with the groove portion 17G. The collet chuck 19 is movable in the rotation axis direction DX along the rotation axis AX1 of the main shaft 12b. The collet chuck 19 is configured to open radially with respect to the rotation axis AX1 when shifted in the first direction DR1 toward the tools T1 and T2 from the pull stud 18 in the rotation axis direction DX, so that the pull stud 18 can be attached and detached. Become. The collet chuck 19 is configured to close in the radial direction with respect to the rotation axis AX1 when shifted in the second direction DR2 toward the pull stud 18 from the tools T1 and T2 in the rotation axis direction DX, and is engaged with the pull stud 18. be. By fitting the pull stud 18 into the collet chuck 19, the tool holder 17 is fixed to the spindle 14b. At this time, the key portion 12K of the main shaft 12b fits into the groove portion 17G of the tool holder 17, so that the rotation of the tool holder 17 with respect to the main shaft 12b is restricted. Therefore, both the tool T2 for cutting and the tool T1 for friction stir welding can be attached to the spindle 14b. In the following embodiments, the tool attached to the spindle 14b will be referred to as execution tool TE.

As shown in FIG. 3, the friction stir welding tool T1 has a load sensor 20 such as a load cell. Power is supplied to the load sensor 20 by an electromagnetic induction coupler (not shown), and the load sensor 20 can transmit the detected load value to the numerical controller 2 by wireless communication. That is, the input/output interface 6 includes a wireless communication interface. Although the load sensor 20 is provided on the tool T1 for friction stir welding in the example of FIG. 3, it may be provided on the main shaft 12b. FIG. 3 shows a sensor 20X as an example of such a load sensor. Further, by using the load applied to the servomotor of the XYZ moving mechanism 13 that moves the processing head 12, the servomotor may be used as the load sensor 20. FIG.

As shown in FIGS. 3 and 4, the spindle frame 12a and spindle 12b have temperature sensors 21a and 21b such as thermocouples. The temperature sensor 21a is powered by a wire, and the temperature sensor 21b is powered by an electromagnetic induction coupler (not shown). The temperature sensors 21a and 21b can transmit values representing the detected temperatures to the numerical controller 2 by wireless communication. The temperature sensor 21a may transmit a value representing the detected temperature to the numerical controller 2 by wire instead of by wire. As shown in FIG. 4, the cutting tool T2 has a temperature sensor 21c. Like the load sensor 20, the temperature sensor 21c is powered by an electromagnetic induction coupler (not shown), and can transmit a detected temperature value to the numerical controller 2 by wireless communication. Any one of the temperature sensors 21a to 21c may be omitted.

The tool magazine 15 can accommodate both a tool holder 17 holding a friction stir welding tool T1 and a tool holder 17 holding a cutting tool T2. FIG. 5 is an enlarged perspective view showing the tool magazine 15 and the tool changer 17. As shown in FIG. The tool magazine 15 has a plurality of holders 15a that hold a plurality of tool holders 17, and a holder moving device 15b that moves the plurality of holders 15a along a circumferential track. The tool magazine 15 may have a holder pick-up device 15c for moving the tool holders 17 stored in the tool magazine 15 to the standby position PH accessible by the tool changer 16. FIG.

The tool changer 16 is configured to change tools between the tool magazine 15 and the spindle 12b. The tool changer 16 has a tool changer arm 16a, an arm rotation device 16b that rotates the tool changer arm 16a, and an arm movement device 16c that linearly moves the tool changer arm 16a. The arm rotation device 16b rotates the tool exchange arm 16a around the additional rotation axis AX2. Further, the arm moving device 16c moves the tool exchange arm 16a in a direction parallel to the additional rotation axis AX2. The tool changer 16 has gripping portions 16d and 16e having a structure similar to a magic hand capable of gripping the tool holder 17 before and after replacement.

<Control program operation>
Next, the details of the operation of the control program 8 in FIG. 2, that is, the control of the multitasking machine 1 will be described. FIG. 6 is a flow chart of the control method of the multi-tasking apparatus 1, that is, the operation of the control program 8. As shown in FIG. The control program 8, when executed by the hardware processor 3 of the multi-tasking apparatus 1, has instructions for causing the hardware processor 3 to execute the control method processes shown in FIGS. 8 to 11 accompanying FIGS. 6 and 8 to 11 accompanying FIG. 6 includes a control program 8 stored in the memory 4 and a hardware processor 3 that executes the control program 8. . Referring to FIG. 6, in step S1, in the control method, the processor 3 executing the control program 8 determines that each of the plurality of tools attachable to the multitasking machine 1 is a cutting tool T2 and a friction stir stir tool. Tool information (tool data 9) indicating which one is the joining tool T1 is acquired. Acquiring the tool information includes reading the tool information from the memory 4 (storage means).

FIG. 7A is an example of the tool data 9 of the cutting tool T2. FIG. 7B is an example of the tool data 9 of the tool T1 for friction stir welding. Note that the tool data 9 of the cutting tool T2 may include other parameters for correction. 7A and 7B, TNo. corresponds to the T code. The T code indicates which holder 15a of the plurality of holders 15a of the tool magazine 15 holds the tool holder 17 according to the T code. Therefore, different T-codes are assigned to different holding units 15a. A T-code corresponds to a combination of tool name, nominal diameter and suffix. A suffix can be assigned any alphabet. Therefore, different T-codes can be assigned to multiple identical tools by changing the suffix.

Whether the tool corresponding to each T-code is the friction stir welding tool T1 or the cutting tool T2 can be determined based on the tool name, which is one of the commands representing the tool. The tool name of the tool T1 for friction stir welding is FSW tool. The tool name of the cutting tool T2 is a name other than the FSW tool. Referring to FIGS. 7A and 7B, tool data 9 includes T code, tool name, nominal diameter, suffix, tool length, tool diameter, probe diameter, shoulder diameter It may also include other tool attribute information such as the contacting portion having a diameter larger than that of the probe TT, and correction parameters such as the length correction amount and the diameter correction amount that take into account tool wear and the like. However, the tool data 9 may not include information other than the T-code, tool name, nominal diameter, and suffix. As one of the tool commands, the case where the tool name is the FSW tool is given to determine whether the tool corresponding to each T-code is the friction stir welding tool T1 or the cutting tool T2. As shown in FIGS. 7A and 7B, when comparing the cutting tool and the friction stir welding tool, the friction stir welding tool has items unique to the friction stir welding tool, such as the probe diameter and the shoulder diameter. For this reason, if the machining program 7 includes tool-specific items, the processor 3 that executes the control program 8 determines the tool-specific items for friction stir welding as commands representing the tool regardless of the tool name. You may

Next, in step S2 of FIG. 6, in the control method, the processor 3 executing the control program 8 performs each machining process called by the machining program 7 (cutting, friction stir welding, etc., continuously by one tool). Obtain instructions representing the execution tool TE to be used in each of the machining performed on the . The command is specifically a command representing the name of the tool. In step S3, in the control method, the processor 3 executing the control program 8 selects the execution tool TE between the friction stir welding tool T1 and the cutting tool T2 based on the tool information and the command. Determine which one. More specifically, the processor 3 executing the control program 8 determines that the execution tool TE is the stir welding tool T1 when the tool name of the execution tool TE is the FSW tool. The processor 3 executing the control program 8 determines that the execution tool TE is the cutting tool T2 when the tool name of the execution tool TE is a name other than the FSW tool.

In the control method, when the processor 3 executing the control program 8 determines in step S3 that the execution tool TE is the tool T1 for friction stir welding, in step S4, the execution detected from the load sensor 20 (20X) Correction of the position of the execution tool TE (thrust control) based on the load applied to the tool TE is enabled. This thrust control is, for example, as shown in Patent Document 3, when the load applied to the execution tool TE detected by the load sensor 20 (20X) reaches the insertion depth of the tool T1 (acquirable from the XYZ drive mechanism 13). The processor 3 executing the control program 8 controls the insertion position of the tool T1 (position command sent to the XYZ drive mechanism 13) so as to approach the target load corresponding to . Preferably, the correction of the position of the execution tool TE based on the load applied to the execution tool TE includes feedback correction of the position of the execution tool TE so that the load does not substantially change. Correction of the position of the execution tool TE based on the load is correction of the position of the execution tool TE in the rotation axis direction DX.

In this control method, when the processor 3 executing the control program 8 determines in step S3 that the tool TE to be executed is the cutting tool T2, in step S5 the temperature detected by the temperature sensors 21a to 21c during cutting is Correction (position control) of the position of the execution tool TE based on the temperature is enabled. For example, as disclosed in International Publication No. 2021/044491, this position control is based on the temperatures detected by the temperature sensors 21a to 21c, and the temperatures detected by the temperature sensors 21a to 21c are the reference temperatures. A positional deviation (thermal displacement) from the cutting edge position of the execution tool TE in a certain case is estimated, and the position of the execution tool TE is corrected based on the positional deviation (thermal displacement) in cutting. In this case, as disclosed in International Publication No. 2021/044491, the positional deviation is estimated by multiplying the temperature deviation from the reference temperature for each of the temperature sensors 21a to 21c by a predetermined coefficient and calculating the sum thereof. Alternatively, a table or the like may be stored in which blade tip deviations corresponding to temperature deviations from the reference temperatures of the temperature sensors 21a to 21c are stored, and positional deviations may be estimated by referring to the table. The correction of the position of the execution tool TE based on the temperature is correction of the position of the execution tool TE in the rotation axis direction DX.

The above steps S2, S4 and S5 differ according to the program format of the machining program 7. FIG. Specific processing based on the program format of the machining program 7 will be described below.

FIG. 8 is a flow chart showing the details of the operation of step S2. FIG. 9 is a flow chart showing the details of the operation of step S3. FIG. 10 is a flow chart showing the details of the operation of step S4. FIG. 11 is a flow chart showing details of the operation of step S5. FIG. 12A is an example of a machining program 7 for cutting. FIG. 12B is an example of a machining program 7 for friction stir welding. The program format of the machining program 7 in FIGS. 12A and 12B is called an interactive format. Hereinafter, the machining program 7 written in the interactive format will be referred to as machining program 7A.

The machining program 7A is written in program code for numerically controlling the multi-tasking machine 1 . At least the following contents are defined in the machining program 7A.
(1) Common unit: Material and shape of workpiece W before machining (2) Basic coordinate unit: Method of setting workpiece coordinate system and machine coordinate system (3) Machining unit: Each part of the final machining shape The machining method, machining shape common unit, basic coordinate unit, and machining unit each have a unit number.

12A and 12B show only the processing unit among the above units. The machining unit includes a unit number UNo., information (unit name) specifying machining details, a tool sequence TS for setting the tools T1 and T2 and the cutting conditions of the tools T1 and T2, and and a shape sequence SS that defines a machining shape to be machined in . A tool sequence TS refers to a series of machining stages required to form a machining shape (for example, one bar, one screw hole) of a portion defined by the machining unit. A shape sequence SS is a segment ( segment).

The examples of FIGS. 12A and 12B show examples in which the machining unit has one tool sequence TS and one shape sequence SS. However, a machining unit may also have more than one tool sequence. A machining unit may have multiple shape sequences to accommodate complex machining shapes. When a machining unit has a plurality of tool sequences and a plurality of shape sequences, in the execution of the machining unit, first, the following tool sequences appear on the program for each tool sequence in order of arrangement of the tool sequences. is executed to move the tool so that it can generate the shape shown in all shape sequences up to . Each tool sequence is distinguished by a sequence number SNo. Each shape sequence is distinguished by a number listed in the FIG entry.

If the tool name in the tool sequence TS is FSW tool, as shown in FIG. , containing a code ('thrust') that specifies the thrust. When thrust control is performed, the value of 'thrust control' is 'yes', and when thrust control is not performed, the value of 'thrust control' is 'no'. Here, the 'thrust control' code including the value 'do' and the 'thrust' code are collectively referred to as a thrust force correction code that instructs correction of the position of the execution tool TE based on the load. If the value of the 'thrust control' code of a shape sequence SS is 'no', then that shape sequence SS is defined not to contain a thrust correction code.

8, 12A and 12B, in step S2, if the program format is an interactive format in step S21 of FIG. obtains the tool name of the tool sequence TS as a command representing the execution tool TE. In step S22, as additional processing, in the control method, the processor 3 executing the machining program 7 obtains the tool name, nominal diameter, and suffix of the tool sequence TS, refers to the tool data 9, and obtains A T-code corresponding to a combination of the tool name, nominal diameter, and suffix may be acquired, and the tool holder 17 held by the holding portion 15a corresponding to the acquired T-code may be attached to the spindle 12b.

In step S3, if the program format is an interactive format in step S31 of FIG. If it is the FSW tool, it is determined that the execution tool TE is the tool T1 for friction stir welding until the next tool sequence TS is executed (step S34). The program code in interactive format includes code for thrust control in each shape sequence SS, as described above. Therefore, enabling the correction (thrust force control) of the position of the execution tool TE based on the load described above means that the execution tool TE If the thrust force correction code instructing correction of the position of is included, in the friction stir welding by the execution tool TE of the machining program 7, correction (thrust control) of the position of the execution tool TE based on the load applied to the execution tool TE is performed. Including running. Specifically, in step S4, if the program format is the interactive format in step S41 of FIG. Determine whether or not it is included. If the shape sequence SS includes a thrust correction code (Yes in step S42), the processor 3 executing the control program 8 in the control method executes thrust control until the next shape sequence SS is executed (step S43). On the other hand, if the thrust correction code is not included in the shape sequence SS (No in step S42), the processor 3 executing the control program 8 in the control method in step S44 defines machining by the execution tool TE of the machining program 7A. Neither thrust control nor position control is executed in the portion (shape sequence SS) where the

In step S3, if the program format is the interactive format in step S31 of FIG. It is determined that the execution tool TE is the cutting tool T2 (step S35). At this time, enabling the correction (position control) of the position of the execution tool TE based on the temperature described above is based on the temperatures detected by the temperature sensors 21a to 21c. is the reference temperature, the positional deviation (thermal displacement) of the execution tool TE from the cutting edge position is estimated, and correction (position control) of the position of the execution tool TE based on the positional deviation (thermal displacement) in cutting is performed. Including running. Specifically, in step S5, when the program format is the interactive format in step S51 of FIG. If it is not a tool, position control is executed until the next tool sequence TS is executed.

The processing program 7 is not limited to the examples of FIGS. 12A and 12B, and may be a processing program 7 based on the EIA (Electronic Industries Association)/ISO (International Organization for Standardization) format. The program format of the machining program 7 in FIGS. 13A and 13B is called machining program 7B. FIG. 13A shows a machining program 7B with a cutting tool T2, and FIG. 13B shows a machining program 7B with a friction stir welding tool T1. Referring to the code of line number 4 in FIGS. 13A and 13B, the machining program 7B based on the EIA/ISO format uses the T code written immediately before the M6 code to perform friction stir welding tool T1 and cutting tool T1. It is possible to distinguish between the tool T2 and the tool T2.

Specifically, in step S2, when the program format is the EIA/ISO format in step S21 of FIG. It is obtained as an instruction representing the execution tool TE. In step S3, if the program format is the EIA/ISO format in step S31 of FIG. Get the tool name corresponding to .

In the example of FIG. 13A, the T code read from the machining program 7B is T10, and when the tool data 9 is referred to, the tool name of the execution tool TE whose T code is T10 is face mill. is the cutting tool T2. That is, in step S33 of FIG. 9, the processor 3 executing the control program 8 in the control method determines that the execution tool TE is the cutting tool T2 when the tool name of the tool sequence TS is not the FSW tool. (Step S35). In the example of FIG. 13B, the T code read from the machining program 7B is T11, and referring to the tool data 9, the tool name of the execution tool TE whose T code is T11 is FSW tool. is the cutting tool T2. That is, in step S33 of FIG. 9, the hardware processor 3 executing the control program 8 in the control method determines whether or not the tool name of the tool sequence TS is the FSW tool. Until the tool sequence TS of 1 is executed, it is determined that the execution tool TE is the tool T1 for friction stir welding (step S34).

Programming according to the EIA/ISO format does not require a special code for position control to be included in the program code, but requires a special code for thrust control to be included in the program code. Referring to FIG. 13B, the machining program 7B using the friction stir welding tool T1 is an M37 code for resetting the thrust control (row number 5 in FIG. code). When the M37 code is called, the current M37 code load cell value is set as zero thrust. That is, the M37 code defines the output value of the sensor corresponding to a load of 0 among the values of the load sensor 20 (20X). As a result, when a signal is generated due to the influence of load cell assembly, temperature rise, etc., the value of the signal can be ignored. The machining program 7B for the tool T1 for friction stir welding then includes a BT3500 code (code of line number 6 in FIG. 13B) that specifies thrust. The machining program 7B by the tool T1 for friction stir welding includes the M38 code (the code of line number 13 in FIG. 13B) for executing thrust control after the coordinate designation code. The machining program 7B by the friction stir welding tool T1 includes an M39 code (code of line number 17 in FIG. 13B) for canceling the thrust control after the code for moving the friction stir welding tool T2. Here, the M37 code, BT3500 code, and M38 code are collectively referred to as a thrust force correction code that instructs correction of the position of the execution tool TE based on the load.

In the EIA/ISO format program code, the position control described above is executed by default unless the tool name corresponding to the T code is the FSW tool. However, if the tool name corresponding to the T code is not an FSW tool and the program code in the EIA/ISO format contains a thrust force correction code, the multitasking machine 1 will say, for example, "Invalid M37 code for program (or , BT3500 code, M38 code, M39 code) was included, but it was ignored.", ignore the thrust correction code, and execute position control. Further, if the tool name corresponding to the T code is the FSW tool, and if the program code in EIA/ISO format contains a thrust correction code, the thrust is controlled according to the code. If the tool name corresponding to the T code is the FSW tool and the program code in the EIA/ISO format does not contain the thrust force correction code, the multitasking machine 1 executes neither position control nor thrust force control.

Therefore, the fact that the machining program 7B shown in FIG. 13A does not include any code for correcting the position of the execution tool TE based on the temperatures detected by the temperature sensors 21a to 21c means that the processor 3 executing the control program 8 can It does not mean not to exercise control. When the execution tool TE is the cutting tool T2, enabling the correction (position control) of the position of the execution tool TE based on the temperature is performed based on the temperature detected by the temperature sensors 21a to 21c. Estimate the positional deviation (thermal displacement) from the cutting edge position of the execution tool TE when the temperature detected by the temperature sensors 21a to 21c is the reference temperature, and determine the execution tool based on the positional deviation (thermal displacement) in the cutting process. Including performing TE position correction (position control). Specifically, in step S5, when the program format is the EIA/ISO format in step S51 of FIG. 11 and the code of the machining process called by the machining program 7 does not include the thrust force correction code (No in step S53). , the processor 3 executing the control program 8 in the control method in step S52 executes position control in the portion of the machining program 7B that defines machining by the execution tool TE. That is, the processor 3 executing the control program 8 in this control method executes position control until the tool is replaced with another tool by the M6 code or the machining program 7B is terminated by the M30 code.

On the other hand, for example, as in the case where the T code is T10 instead of T11 in the code of FIG. 13B, in step S51 of FIG. If the code of the machining process to be executed includes a thrust force correction code (Yes in step S53), the processor 3 executing the control program 8 in the control method in step S54 executes , the thrust force correction code is ignored even if the thrust force correction code instructing correction of the position of the execution tool TE based on the load is included. That is, enabling the correction (position control) of the position of the execution tool TE based on the temperature instructs the correction of the position of the execution tool TE based on the load in the portion of the machining program 7B that defines the machining by the execution tool TE. including ignoring thrust correction code even if it contains a thrust correction code that After that, in step S55, the processor 3 executing the control program 8 in the control method causes the display device 10b to display an error message. That is, enabling the correction (position control) of the position of the execution tool TE based on the temperature instructs the correction of the position of the execution tool TE based on the load in the portion of the machining program 7B that defines the machining by the execution tool TE. includes announcing an error message if the thrust correction code is included. After the process of step S55 is finished, the processor 3 executing the control program 8 in the control method executes step S52.

Enabling the correction of the position of the tool TE (thrust control) based on the load applied to the tool TE in step S4 is performed when the program format is the EIA/ISO format in step S41. includes executing the thrust force correction code (step S43) if the thrust force correction code is included in the portion that defines the machining by the execution tool TE (step S45: Yes). Specifically, the processor 3 executing the control program 8 in this control method executes thrust control based on the thrust correction code from when the M38 code is called until when the M39 code or the M30 code is called.

On the other hand, for example, as in the case where the T code is T11 instead of T10 in the code of FIG. 13A, in step S41 of FIG. If the code of the machining process to be executed (the portion of the machining program 7B that defines machining by the tool TE to be executed) does not include the thrust force correction code (No in step S45), the control program 8 is executed in the control method in step S44. The processor 3 performs neither thrust control nor position control in the portion of the machining program 7B that defines machining by the execution tool TE. In other words, enabling the correction (thrust control) of the position of the execution tool TE based on the load does not include the thrust force correction code in the part that defines the machining by the execution tool TE of the machining program 7B. neither correction of the position of the execution tool TE (thrust control) based on the load applied to nor correction of the position of the execution tool TE (thrust control) based on the temperature. At this time, the processor 3 executing the control program 8 in the control method moves the execution tool TE based only on the code for moving the execution tool TE (the code of line number 14 in FIGS. 13A and 13B).

The control program 8 also has a function of editing tool information registered in the tool data 9 . Specifically, the processor 3 that executes the control program 8 in this control method displays indicators such as texts and icons corresponding to the items shown in the first line of FIGS. 7A and 7B, and two A process of displaying an input form such as a text box or a list box corresponding to the contents shown in the line on the display device 10b is executed. The processor 3 executing the control program 8 in the control method causes the memory 4 to store the information input by the user via the input interface 10a in the input form. In other words, the processor 3 executing the control program 8 in the control method causes the storage means to store the tool information input by the user. The input interface 10a and the display device 10b are interfaces for the user to input the tool information.
<Characteristics and Effects of Control Method for Multi-tasking Machine in Present Embodiment>
In the multi-tasking apparatus 1 and the control method thereof according to the present embodiment, when it is determined that the execution tool TE is the cutting tool T2, the temperature set in the multi-tasking apparatus 1 or the cutting tool T2 in cutting is This includes enabling correction of the position of the working tool TE based on temperatures detected by sensors 21a-21c. In the combined processing apparatus 1 and its control method according to the present embodiment, when it is determined that the execution tool TE is the friction stir welding tool T1, the validating the correction of the position of the execution tool TE based on the load applied to the execution tool TE detected from the detected load sensor 20 (20X). Therefore, it is possible to automatically switch between position control and thrust control according to the type of tool.
<Modification>
In the above-described embodiment, the multi-tasking apparatus 1 supports both the interactive format and the EIA/ISO program format. good too. In that case, steps S21, S41, and S51 may be omitted in FIGS. 8 to 10, and the process of the program format not supported by the multi-tasking apparatus 1 may be omitted.

In the above-described embodiment, an example in which the multitasking machine 1 is a vertical machining center is shown. If both are possible, the contents of this embodiment are applicable.

A part or all of the functions of the logic of the control program 8 of the numerical controller 2 may be implemented by a dedicated processor or integrated circuit. The above-mentioned control program 8 is stored not only in the memory 4 built in the numerical controller 2, but also in the numerical controller 2 such as a floppy disk, an optical disk, a CD-ROM and a magnetic disk, an SD card, a USB memory, and an external hard disk. It may be recorded on a storage medium that is removable from the computer and readable by the numerical control device 2 .

As used herein, "comprising" and its derivatives are open-ended terms describing the presence of elements and do not exclude the presence of other elements not listed. This also applies to the words "having", "including" and their derivatives.

The terms "member", "part", "element", "body" and "structure" can have multiple meanings such as single part and multiple parts.

Ordinal numbers such as "first" and "second" are merely terms to identify configurations and have no other meaning (eg, a particular order, etc.). For example, the presence of a "first element" does not imply the existence of a "second element", nor does the presence of a "second element" imply the existence of a "first element". does not imply that

Words such as "substantially," "about," and "approximately," expressing degrees, can mean a reasonable amount of deviation such that the end result does not change significantly, unless the embodiment specifically states otherwise. . All numerical values set forth in this application may be interpreted to include words such as "substantially," "about," and "approximately."

In this application, the phrase "at least one of A and B" should be interpreted to include only A, only B, and both A and B.

Obviously, many variations and modifications of the present invention are possible in view of the above disclosure. Accordingly, the present invention may be practiced otherwise than as specifically disclosed herein without departing from the spirit of the invention.

Claims (16)

A control method for a multi-tasking device for performing cutting and friction stir welding, comprising:
A hardware processor of the multi-tasking apparatus receives tool information indicating whether each of a plurality of tools attachable to the multi-tasking apparatus is the cutting tool or the friction stir welding tool. reading from the storage means of the multi-tasking machine ,
the hardware processor reads, from the machining program, an instruction representing an execution tool called by a machining program executed by the multi-tasking machine, among the plurality of tools ;
Based on the tool information and the command, the hardware processor determines whether the execution tool is the cutting tool or the friction stir welding tool;
When determining that the execution tool is the cutting tool, the hardware processor corrects the position of the execution tool based on the temperature detected by the temperature sensor provided in the multitasking apparatus during the cutting. enable and
When the execution tool is determined to be the friction stir welding tool, the hardware processor obtains the load applied to the execution tool in the friction stir welding, and validates the correction of the position of the execution tool based on the load. do,
control method, including
2. The control method according to claim 1, wherein enabling correction of the position of the execution tool based on the load includes disabling correction of the position of the execution tool based on the temperature.
Determining the load applied to the execution tool includes obtaining the load detected by a load sensor provided in the multitasking apparatus or the friction stir welding tool,
The control method according to claim 1.
wherein the correction of the position of the execution tool based on the load is correction of the position of the execution tool in the rotational axis direction;
The control method according to claim 1.
Enabling the correction of the position of the execution tool based on the temperature is based on the temperature detected by the temperature sensor, and the temperature detected by the temperature sensor is a reference temperature. estimating a positional deviation from the position of the cutting edge, and correcting the position of the execution tool based on the positional deviation in the cutting;
The control method according to claim 1.
Enabling the correction of the position of the execution tool based on the temperature includes a thrust force correction code instructing correction of the position of the execution tool based on the load in a portion of the machining program that defines machining by the execution tool. said hardware processor ignoring said thrust correction code even if it contains
The control method according to claim 5 .
Enabling the correction of the position of the execution tool based on the temperature includes a thrust force correction code instructing correction of the position of the execution tool based on the load in a portion of the machining program that defines machining by the execution tool. 7. The control method of claim 6 , comprising outputting an error message by the hardware processor if .
To enable correction of the position of the execution tool based on the load, a thrust force correction code instructing correction of the position of the execution tool based on the load is included in the portion of the machining program that defines machining by the execution tool. 8. A control method as claimed in any preceding claim, comprising executing the thrust correction code when included.
Enabling the correction of the position of the execution tool based on the load means that if the thrust force correction code is not included in the portion of the machining program that defines machining by the execution tool, the load applied to the execution tool is 9. The control method of claim 8 , comprising performing neither a correction of the position of the effective tool based on nor the correction of the position of the effective tool based on the temperature.
8. The control method according to any one of claims 1 to 7 , further comprising storing said tool information entered by a user in said storage means.
8. Any one of claims 1 to 7 , wherein correcting the position of the execution tool based on the load applied to the execution tool includes feedback correcting the position of the execution tool so that the load does not substantially change. Described control method.
A program comprising instructions that, when executed by said hardware processor, cause said hardware processor to execute the process of the control method according to any one of claims 1 to 7 .
a numerical control device comprising the hardware processor for executing the processing of the control method according to any one of claims 1 to 7 and the storage means;
a spindle on which both the cutting tool and the friction stir welding tool can be attached;
a load sensor provided on at least one of the spindle and the friction stir welding tool for detecting the load;
the temperature sensor;
A multi-tasking device comprising:
a tool magazine capable of storing both the cutting tools and the friction stir welding tools;
a tool changer configured to change tools between the tool magazine and the spindle;
14. The multi-tasking apparatus of claim 13 , further comprising:
further comprising an interface for inputting said tool information by a user;
The composite machining apparatus according to claim 13 .
The storage means is a memory,
The numerical controller further includes the program according to claim 12 stored in the memory,
The composite machining apparatus according to claim 13 .

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